CN104076040A - Nuclear power plant concrete building defect detection method, equipment and system - Google Patents
Nuclear power plant concrete building defect detection method, equipment and system Download PDFInfo
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- CN104076040A CN104076040A CN201410312205.3A CN201410312205A CN104076040A CN 104076040 A CN104076040 A CN 104076040A CN 201410312205 A CN201410312205 A CN 201410312205A CN 104076040 A CN104076040 A CN 104076040A
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Abstract
The invention discloses a nuclear power plant concrete building defect detection method which comprises the following steps that a robot unit receives a control instruction transmitted from a ground station unit; the robot unit acquires body surface image information of a nuclear power plant concrete building according to the control instruction; the robot unit transmits the image information to the ground station unit in real time; the ground station unit confirms whether the nuclear power plant concrete building has defects or not according to the image information. Through cooperation of the robot unit and the ground station unit, the detection on the defects of the nuclear power plant concrete building is accomplished. In addition, the invention further discloses nuclear power plant concrete building defect detection equipment, device and system.
Description
Technical field
The invention belongs to nuclear power technology field, be specifically related to a kind of nuclear power plant concrete buildings defect inspection method, equipment and system.
Background technology
Nuclear power plant containment shell is nuclear power plant reactor main support structure, and its construction quality is had to high requirement.The reduction hydration heat of cement adopting in conventional concrete construction and the various measures of concrete temperature are difficult to produce a desired effect, and crack problem is perplexing nuclear power construction process for a long time.Along with nuclear industry was flourish in recent years, nuclear power plant containment shell capital construction quantity is surged, and correspondingly, for the repair and maintenance work requirements amount of the concrete castings such as containment, dam, also increases.For this special concrete structure construction of nuclear power station, due to casting of concrete in mass technique and the impact of building the factors such as subject surface complexity, concreting there will be inequality, pore, the maintenance situation such as not in time of building unavoidably, the crack problem causing thus happens occasionally, and in follow-up use procedure, also easily further causes larger crack.Because nuclear power station related infrastructure majority all builds on the severe place of the physical environments such as seashore, cause the problems referred to above in the construction of nuclear power station, to become great potential safety hazard.
At present for the crack problem occurring in concrete casting, existing detection means is mainly to utilize hanging basket and handheld instrument (Crack Monitoring instrument, New Instrument for Crack Width etc.) to complete by artificial work high above the ground, this can cause testing process security incident often to have generation, and risk is higher; Simultaneously because artificial work high above the ground is subject to certain conditions and environment restriction more, as all cannot operation under night, special climate environment, nuclear power projects construction progress be easily affected.In addition, because artificial work high above the ground detection is consuming time longer, detect error rate and loss higher, especially, for the defects detection of high-lager building (npp safety shell, dam etc.), detection efficiency is lower.
Therefore, how, in the Crack Detection process of concrete casting, realizing efficient, safe operation, is problem demanding prompt solution.
Summary of the invention
The object of the invention is to: after nuclear power plant concrete buildings is built, provide a kind of efficient, safe nuclear power plant concrete buildings defect inspection method, equipment and system.
In order to realize foregoing invention object, the invention provides a kind of nuclear power plant concrete buildings defect inspection method, described method comprises:
The steering order that robot cell's satellite receiver unit sends;
Described robot cell gathers the body surface image information of nuclear power plant concrete buildings according to described steering order;
Described robot cell is sent to units of ground station in real time by described image information;
So that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described steering order is specially: manually operating instruction or defect inspection instruction.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
If described units of ground station is determined described nuclear power plant concrete buildings there is defect in current body surface, and described robot cell carries out mark to the position of current body surface.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
Described robot cell is sent to units of ground station by the positional information of current body surface, and described positional information at least comprises absolute altitude and angle.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described units of ground station determines that according to described image information whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Whether units of ground station is measured and in described image, is existed defect information, described defect information at least to comprise a kind of in fracture length, fracture width, defect area by simulated defect tool card.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described units of ground station determines that according to described image information whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
Set up the mapping table of described positional information and described defect information corresponding relation.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
Described mapping table and described pictorial information are saved to database.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
According to the information in described database, draw defect map.
In order to realize foregoing invention object, the present invention also provides a kind of nuclear power plant concrete buildings defect inspection method, and the method comprises:
To robot cell's sending controling instruction, so that described robot cell transmits the image information of collection in real time according to described steering order;
Receive the image information that described robot cell transmits in real time;
According to described image information definite kernel power station concrete structure body surface, whether there is defect.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described steering order comprises:
Manually operating instruction or defect inspection instruction.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
If steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, describedly according to described image information, determine that whether described nuclear power plant concrete buildings body surface exists defect, comprising:
By simulated defect tool card, measure and in described image, whether exist defect information, described defect information at least to comprise a kind of in fracture length, fracture width, defect area.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, describedly according to described image information, determine that whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
Set up the mapping table of described positional information and described defect information corresponding relation.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
Described mapping table and described pictorial information are saved to database.
As a kind of improvement of nuclear power plant concrete buildings defect inspection method of the present invention, described method also comprises:
According to the information in described database, draw defect map.
In order to realize foregoing invention object, the present invention also provides a kind of nuclear power plant concrete buildings defect detection equipment, and this equipment comprises:
Receiver module, the steering order sending for satellite receiver unit;
Image capture module, for gathering the body surface image information of nuclear power plant concrete buildings according to described steering order;
Delivery module, for described image information is sent to units of ground station in real time, so that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect.
As a kind of improvement of nuclear power plant concrete buildings defect detection equipment of the present invention, described equipment also comprises:
Automatic control module, if the described steering order receiving for described receiver module is defect inspection instruction, carries out defect inspection operation according to described instruction.
As a kind of improvement of nuclear power plant concrete buildings defect detection equipment of the present invention, described equipment also comprises:
Mark module, if judge that according to described image information the current body surface of described nuclear power plant concrete buildings exists defect, carries out mark to the position of current body surface for units of ground station.
As a kind of improvement of nuclear power plant concrete buildings defect detection equipment of the present invention, described equipment also comprises:
Sending module, for being sent to units of ground station by the positional information of current body surface.
In order to realize foregoing invention object, the present invention also provides another nuclear power plant concrete buildings defect detecting device, and this device comprises:
Transmitter, for to robot cell's sending controling instruction;
Receiver, the image information transmitting in real time for receiving robot cell;
Whether controller, for there is defect according to described image information definite kernel power station concrete structure body surface.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described receiver also for:
If described controller judges described nuclear power plant concrete buildings there is defect in current body surface, receives the positional information that robot cell sends current body surface.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described controller determines that according to described image information whether concrete structure body surface exists defect, comprising:
By simulated defect tool card, measure in described image whether have defect information, described defect information at least comprises: fracture length, fracture width, defect area.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described device also comprises:
Described controller determines according to described image information whether concrete structure body surface exists defect to be specially:
Described controller judges in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described device also comprises:
Mapper, for setting up the mapping table of described positional information and described defect information corresponding relation.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described device also comprises:
Database, for preserving described mapping table and described pictorial information.
As a kind of improvement of nuclear power plant concrete buildings defect detecting device of the present invention, described device also comprises:
Graphics module, for drawing defect map according to the information of described database.
In order to realize foregoing invention object, the present invention also provides a kind of nuclear power plant concrete buildings defect detecting system, and system comprises:
Units of ground station, for to robot cell's sending controling instruction, receives the image information that described robot cell transmits in real time, and whether has defect according to described image information definite kernel power station concrete structure body surface;
Described robot cell, the steering order sending for receiving described units of ground station, the body surface image information of the nuclear power plant concrete buildings of collection is sent to described units of ground station, if described units of ground station is determined described nuclear power plant concrete buildings there is defect in current body surface, mark carried out in the position of current body surface.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, if described steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, described robot cell also for:
The positional information of current body surface is sent to units of ground station.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, whether described units of ground station there is defect according to described image information definite kernel power station concrete structure body surface, comprising:
Units of ground station measures in described image whether have defect information by simulated defect tool card, and described defect information at least comprises: a kind of in fracture length, fracture width, defect area.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, whether described units of ground station there is defect according to described image information definite kernel power station concrete structure body surface, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, described units of ground station is also for the mapping table of setting up described positional information and described defect information corresponding relation.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, described units of ground station also for: preserve described mapping table and described pictorial information.
As a kind of improvement of nuclear power plant concrete buildings defect detecting system of the present invention, described units of ground station also for:
According to the information in described database, draw defect map.
Compared with prior art, nuclear power plant concrete buildings defect inspection method of the present invention, equipment and system have following useful technique effect: by robot cell, coordinate with units of ground station, complete nuclear power plant concrete buildings defects detection.By robot cell, replace manually realizing high-altitude defect and detect operation, can reduce the security risk of high-altitude defects detection operation, efficiency is high; Owing to utilizing robot cell can reduce the dependence to relevant devices such as hanging baskets, improve the dirigibility of operation, and reduce testing cost simultaneously.In addition, because the impact of robot cell's operation climate weather is less, can realize all weather operations of nuclear power plant concrete buildings defects detection work.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, nuclear power plant concrete buildings defect inspection method of the present invention, equipment and system are elaborated, wherein:
Fig. 1 provides an a kind of example flow chart of nuclear power plant concrete buildings defect inspection method.
Fig. 2 provides another example flow chart of a kind of nuclear power plant concrete buildings defect inspection method.
Fig. 3 provides an a kind of example flow chart of nuclear power plant concrete buildings defect inspection method.
Fig. 4 provides an a kind of example schematic of nuclear power plant concrete buildings defect detection equipment.
Fig. 5 provides an a kind of example schematic of nuclear power plant concrete buildings defect detecting device.
Fig. 6 provides a kind of schematic diagram of an example of nuclear power plant concrete buildings defect detecting system.
Embodiment
In order to make goal of the invention of the present invention, technical scheme and useful technique effect thereof more clear, below in conjunction with the drawings and specific embodiments, the present invention is further elaborated.It should be emphasized that, the embodiment of describing in this instructions is only used to explain the present invention, is not intended to limit use occasion of the present invention.
Fig. 1 provides a kind of nuclear power plant concrete buildings defect inspection method, specifically comprises:
Step 101, the steering order that robot cell's satellite receiver unit sends.
In the present invention, robot cell refers to and has the creep robot device of technology of vertical walls.The steering order that robot cell's satellite receiver unit sends, this steering order comprises: manual a kind of in operating instruction and defect inspection instruction.
Step 103, described robot cell gathers the body surface image information of nuclear power plant concrete buildings according to described steering order.
Concrete, units of ground station sends after manual operating instruction, and the operating personnel of land station control robot cell by control terminal, and robot cell is according to controlling the body surface image information that gathers nuclear power plant concrete buildings.Whether concrete exists defect to be confirmed by the staff of land station.Hand-held remote control unit is mainly that robot cell's movement is controlled.Robot cell gathers image information by the image capture device being provided with.
Step 105, described robot cell is sent to units of ground station in real time by described image information.
Concrete, robot cell is sent to units of ground station by wireless mode in real time by image information.
Step 107, so that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect.
Concrete, judgement defect, mainly by the image information gathering is measured, at least comprises the measurements such as fracture length, width, defect area.Measured value and the standard value range setting in advance are contrasted, if measured value surpasses the maximal value of preset value, judge in this image and have defect.
Further, if described steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
Further, if described units of ground station is determined described nuclear power plant concrete buildings there is defect in current body surface, and described robot cell carries out mark to the position of current body surface.
Robot cell is sent to units of ground station by the positional information of current body surface, and described positional information at least comprises absolute altitude and angle.
Concrete, robot cell obtains the positional information of current body surface by instruments such as height above sea level table, scrambler or laser range finders, the positional information of current body surface is carried out to mark.
Further, set up the mapping table of described positional information and described defect information corresponding relation.And described mapping table and described pictorial information are saved to database.
Preferably, according to the information in described database, draw defect map.
The embodiment of the present invention coordinates with units of ground station by robot cell, completes nuclear power plant concrete buildings defects detection.By robot cell, replace manually realizing high-altitude defect and detect operation, can reduce the security risk of high-altitude defects detection operation, efficiency is high; Owing to utilizing robot cell can reduce the dependence to relevant devices such as hanging baskets, improve the dirigibility of operation, and reduce testing cost simultaneously.
Incorporated by reference to consulting Fig. 2, Fig. 2 provides another embodiment of a kind of nuclear power plant concrete buildings defect inspection method.
Concrete, step 201, units of ground station is selected operational mode;
Select different operational modes, units of ground station sends different steering orders to robot cell.
Step 203, units of ground station is to robot cell's sending controling instruction;
Steering order comprises: manual a kind of in operating instruction and defect inspection instruction.If described steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
Step 205, robot cell's acquisition volume table image information;
If described steering order is manual operating instruction, described robot cell gathers the body surface image information of nuclear power plant concrete buildings.
Step 207, robot cell's body surface image information that unit send to gather of standing earthward;
Step 209, whether the body surface image information that units of ground station judgement gathers there is defect;
Concrete, units of ground station is measured the defect information in described image by simulated defect tool card, and described defect information at least comprises: fracture length, fracture width, defect area.
Further, judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.Be about to measured value and contrast with the standard value range setting in advance, if measured value surpasses the maximal value of preset value, judge in this image and have defect.
Step 211, units of ground station sends to robot cell the report that body surface exists defect;
Step 213, robot cell determines the positional information of defect according to report;
Positional information at least comprises absolute altitude and angle.By instruments such as GPS (Global Positioning System, GPS), height above sea level table or laser range finders, obtain the positional information of current body surface, the positional information of current body surface is carried out to mark.
Step 215, the robot cell unit of standing earthward sends positional information;
Step 217, units of ground station, according to the positional information receiving, is set up the mapping table of image information and positional information, and mapping table is saved to database.
Described mapping table and described pictorial information are saved to database.
The steering order that the embodiment of the present invention sends by robot cell's satellite receiver unit; Robot cell is according to the image information of steering order collection and be sent in real time units of ground station; So that units of ground station judges according to image information; At units of ground station, judge that the current body surface of described nuclear power plant concrete buildings exists defect, robot cell carries out mark to the position of current body surface.By robot cell, replace manually realizing high-altitude defect and detect operation, can reduce the security risk of high-altitude defects detection operation, efficiency is high; Owing to utilizing robot cell can reduce the dependence to relevant devices such as hanging baskets, improve the dirigibility of operation, and reduce testing cost simultaneously.In addition, because the impact of robot cell's operation climate weather is less, can realize all weather operations of nuclear power plant concrete buildings defects detection work.
Please refer to Fig. 3, Fig. 3 provides the process flow diagram of an a kind of embodiment of nuclear power plant concrete buildings defect inspection method.Comprise:
Step 301, to robot cell's sending controling instruction, so that described robot cell transmits the image information of collection in real time according to described steering order;
Step 303, receives the image information that described robot cell transmits in real time;
Whether step 305, there is defect according to described image information definite kernel power station concrete structure body surface.
Wherein, steering order can comprise a kind of in manual operating instruction or defect inspection instruction.If steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
Concrete, according to described image information, determine whether described nuclear power plant concrete buildings body surface exists defect, comprise: by simulated defect tool card, measure and in described image, whether exist defect information, described defect information at least to comprise a kind of in fracture length, fracture width, defect area.Further, judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
Further, set up the mapping table of described positional information and described defect information corresponding relation.And described mapping table and described pictorial information are saved to database.Preferably, according to the information in described database, draw defect map.
Fig. 4 provides the schematic diagram of an a kind of embodiment of nuclear power plant concrete buildings defect detection equipment.Comprise: receiver module 401, image capture module 403 and delivery module 405.Concrete,
Receiver module 301, the steering order sending for satellite receiver unit;
Image capture module 303, for gathering the body surface image information of nuclear power plant concrete buildings according to described steering order;
Delivery module 305, for described image information is sent to units of ground station in real time, so that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect;
Optionally, this equipment can also comprise automatic control module, if the described steering order receiving for described receiver module is defect inspection instruction, according to described instruction, carries out defect inspection operation.
Further, this equipment can comprise identification module, if judge that according to described image information the current body surface of described nuclear power plant concrete buildings exists defect, carries out mark to the position of current body surface for units of ground station.
Further, this nuclear power plant concrete buildings defect detection equipment can also comprise: sending module, and for the positional information of current body surface is sent to units of ground station.
The embodiment of the present invention detects operation by replacing manually realizing high-altitude defect, can reduce the security risk of high-altitude defects detection operation, and efficiency is high; Owing to utilizing robot cell can reduce the dependence to relevant devices such as hanging baskets, improve the dirigibility of operation, and reduce testing cost simultaneously.
Incorporated by reference to referring to Fig. 5, Fig. 5 provides the schematic diagram of an a kind of embodiment of nuclear power plant concrete buildings defect detection equipment.Comprise transmitter 501, receiver 503 and controller 505.Wherein,
Transmitter 501, for to robot cell's sending controling instruction;
Steering order comprises: manual a kind of in operating instruction and defect inspection instruction.If described steering order is defect inspection instruction, the image information that units of ground station returns according to described robot cell is carried out defect inspection operation.If described steering order is manual operating instruction, the image information artificial cognition defect that staff of land station returns according to described robot cell.The collection of defect information is still completed by units of ground station.
Receiver 503, the image information transmitting in real time for receiving robot cell;
Optionally, if receiver 503 also judges that for described controller the current body surface of described nuclear power plant concrete buildings exists defect, receive the positional information that robot cell sends current body surface.
Whether controller 505, for there is defect according to the disconnected current body surface of nuclear power plant concrete buildings of described image information.
Concrete, controller 505 is measured the defect information in described image by simulated defect tool card, and described defect information at least comprises: fracture length, fracture width, defect area.
Further, controller 505 judges in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.Be that controller 505 contrasts measured value and the standard value range setting in advance, if measured value surpasses the maximal value of preset value, judge in this image and have defect.
Further, the nuclear power plant concrete buildings defect detection equipment that the embodiment of the present invention provides can also comprise: mapper, and for setting up the mapping table of described positional information and described defect information corresponding relation.
Further, the nuclear power plant concrete buildings defect detection equipment that the embodiment of the present invention provides can also comprise: database, and for preserving described mapping table and described pictorial information.
Further, the nuclear power plant concrete buildings defect detection equipment that the embodiment of the present invention provides can also comprise: graphics module, and for drawing defect map according to the information of described database.
Whether the embodiment of the present invention judges gathering image information by substituting manually, can realize existing defect to judge fast in image information, for the nuclear power plant concrete buildings defects detection equipment that provides the foundation, obtains good technique effect.
Incorporated by reference to referring to Fig. 6, scheme, 6 provide the schematic diagram of an a kind of embodiment of nuclear power plant concrete buildings defect detecting system.Comprise: units of ground station 601 and robot cell 603.Concrete:
Units of ground station 601, for to robot cell's 602 sending controling instructions, receives the image information that robot cell 602 transmits in real time, and judges according to described image information whether the current body surface of nuclear power plant concrete buildings exists defect;
Described robot cell 602, the steering order sending for satellite receiver unit 601, the body surface image information of the nuclear power plant concrete buildings of collection is sent to units of ground station 601, if the current body surface of the units of ground station 601 described nuclear power plant concrete buildings of judgement exists defect, mark is carried out in the position of current body surface.
Optionally, if described steering order is defect inspection instruction, robot cell 602 carries out defect inspection operation according to described instruction.
Optionally, robot cell 602 is also for being sent to units of ground station by the positional information of current body surface.
Particularly, units of ground station 601 is measured the defect information in described image by simulated defect tool card, and described defect information at least comprises: fracture length, fracture width, defect area.Further, units of ground station 601 judges in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.Be that units of ground station 601 contrasts measured value and the standard value range setting in advance, if measured value surpasses the maximal value of preset value, judge in this image and have defect.
Further, units of ground station 601 is also for setting up the mapping table of described positional information and described defect information corresponding relation.
Further, units of ground station 601 is also for preserving described mapping table and described pictorial information.
The implementation method of system and flow process can, referring to the embodiment of the method for introducing in previous embodiment, repeat no more herein.
In conjunction with above detailed description of the present invention, can find out, with respect to prior art, the present invention at least has following useful technique effect: the steering order sending by robot cell's satellite receiver unit; Robot cell is according to the image information of steering order collection and be sent in real time units of ground station; So that units of ground station judges according to image information; At units of ground station, judge that the current body surface of described nuclear power plant concrete buildings exists defect, robot cell carries out mark to the position of current body surface.By robot cell, replace manually realizing high-altitude defect and detect operation, can reduce the security risk of high-altitude defects detection operation, efficiency is high; Owing to utilizing robot cell can reduce the dependence to relevant devices such as hanging baskets, improve the dirigibility of operation, and reduce testing cost simultaneously.In addition, because the impact of robot cell's operation climate weather is less, can realize all weather operations of nuclear power plant concrete buildings defects detection work.
According to above-mentioned principle, the present invention can also carry out suitable change and modification to above-mentioned embodiment.Therefore, the present invention is not limited to embodiment disclosed and described above, to modifications and changes more of the present invention, also should fall in the protection domain of claim of the present invention.In addition,, although used some specific terms in this instructions, these terms just for convenience of description, do not form any restriction to the present invention.
Claims (36)
1. a nuclear power plant concrete buildings defect inspection method, is characterized in that, described method comprises:
The steering order that robot cell's satellite receiver unit sends;
Described robot cell gathers the body surface image information of nuclear power plant concrete buildings according to described steering order;
Described robot cell is sent to units of ground station in real time by described image information;
So that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect.
2. the method for claim 1, is characterized in that, described steering order is specially:
Manually operating instruction or defect inspection instruction.
3. the method for claim 1, is characterized in that, described method also comprises:
If described units of ground station is determined described nuclear power plant concrete buildings there is defect in current body surface, and described robot cell carries out mark to the position of current body surface.
4. method as claimed in claim 3, is characterized in that, described method also comprises:
Described robot cell is sent to units of ground station by the positional information of current body surface, and described positional information at least comprises absolute altitude and angle.
5. method as claimed in claim 4, is characterized in that, described units of ground station determines that according to described image information whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Whether units of ground station is measured and in described image, is existed defect information, described defect information at least to comprise a kind of in fracture length, fracture width, defect area by simulated defect tool card.
6. method as claimed in claim 5, is characterized in that, described units of ground station determines that according to described image information whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
7. method as claimed in claim 6, is characterized in that, described method also comprises:
Set up the mapping table of described positional information and described defect information corresponding relation.
8. method as claimed in claim 7, is characterized in that, described method also comprises:
Described mapping table and described pictorial information are saved to database.
9. method as claimed in claim 8, is characterized in that, described method also comprises:
According to the information in described database, draw defect map.
10. a nuclear power plant concrete buildings defect inspection method, is characterized in that, described method comprises:
To robot cell's sending controling instruction, so that described robot cell transmits the image information of collection in real time according to described steering order;
Receive the image information that described robot cell transmits in real time;
According to described image information definite kernel power station concrete structure body surface, whether there is defect.
11. methods as claimed in claim 10, is characterized in that, described steering order comprises:
Manually operating instruction or defect inspection instruction.
12. methods as claimed in claim 10, is characterized in that, described method also comprises:
If steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
13. methods as claimed in claim 11, is characterized in that, describedly according to described image information, determine that whether described nuclear power plant concrete buildings body surface exists defect, comprising:
By simulated defect tool card, measure and in described image, whether exist defect information, described defect information at least to comprise a kind of in fracture length, fracture width, defect area.
14. methods as claimed in claim 13, is characterized in that, describedly according to described image information, determine that whether described nuclear power plant concrete buildings body surface exists defect, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
15. methods as claimed in claim 14, is characterized in that, described method also comprises:
Set up the mapping table of described positional information and described defect information corresponding relation.
16. methods as claimed in claim 15, is characterized in that, described method also comprises:
Described mapping table and described pictorial information are saved to database.
17. methods as claimed in claim 16, is characterized in that, described method also comprises:
According to the information in described database, draw defect map.
18. 1 kinds of nuclear power plant concrete buildings defect detection equipments, is characterized in that, described equipment comprises:
Receiver module, the steering order sending for satellite receiver unit;
Image capture module, for gathering the body surface image information of nuclear power plant concrete buildings according to described steering order;
Delivery module, for described image information is sent to units of ground station in real time, so that described units of ground station determines according to described image information whether described nuclear power plant concrete buildings body surface exists defect.
19. equipment as claimed in claim 18, is characterized in that, described equipment also comprises:
Automatic control module, if the described steering order receiving for described receiver module is defect inspection instruction, carries out defect inspection operation according to described instruction.
20. equipment as claimed in claim 18, is characterized in that, described equipment also comprises:
Mark module, if judge that according to described image information the current body surface of described nuclear power plant concrete buildings exists defect, carries out mark to the position of current body surface for units of ground station.
21. equipment as claimed in claim 20, is characterized in that, described equipment also comprises:
Sending module, for being sent to units of ground station by the positional information of current body surface.
22. 1 kinds of nuclear power plant concrete buildings defect detecting devices is characterized in that, described device comprises:
Transmitter, for to robot cell's sending controling instruction;
Receiver, the image information transmitting in real time for receiving robot cell;
Whether controller, for there is defect according to described image information definite kernel power station concrete structure body surface.
23. devices as claimed in claim 22, is characterized in that, described receiver also for:
If described controller judges described nuclear power plant concrete buildings there is defect in current body surface, receives the positional information that robot cell sends current body surface.
24. devices as claimed in claim 23, is characterized in that, described controller determines that according to described image information whether concrete structure body surface exists defect, comprising:
By simulated defect tool card, measure in described image whether have defect information, described defect information at least comprises: fracture length, fracture width, defect area.
25. devices as claimed in claim 24, is characterized in that, described controller determines according to described image information whether concrete structure body surface exists defect to be specially:
Described controller judges in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
26. devices as claimed in claim 25, is characterized in that, described device also comprises:
Mapper, for setting up the mapping table of described positional information and described defect information corresponding relation.
27. devices as claimed in claim 26, is characterized in that, described device also comprises:
Database, for preserving described mapping table and described pictorial information.
28. devices as claimed in claim 27, is characterized in that, described device also comprises:
Graphics module, for drawing defect map according to the information of described database.
29. 1 kinds of nuclear power plant concrete buildings defect detecting systems, is characterized in that, described system comprises:
Units of ground station, for to robot cell's sending controling instruction, receives the image information that described robot cell transmits in real time, and whether has defect according to described image information definite kernel power station concrete structure body surface;
Described robot cell, the steering order sending for receiving described units of ground station, the body surface image information of the nuclear power plant concrete buildings of collection is sent to described units of ground station, if described units of ground station is determined described nuclear power plant concrete buildings there is defect in current body surface, mark carried out in the position of current body surface.
30. systems as claimed in claim 29, is characterized in that, if described steering order is defect inspection instruction, described robot cell carries out defect inspection operation according to described instruction.
31. systems as claimed in claim 30, is characterized in that, described robot cell also for:
The positional information of current body surface is sent to units of ground station.
32. systems as claimed in claim 31, is characterized in that, whether described units of ground station exists defect according to described image information definite kernel power station concrete structure body surface, comprising:
Units of ground station measures in described image whether have defect information by simulated defect tool card, and described defect information at least comprises: a kind of in fracture length, fracture width, defect area.
33. systems as claimed in claim 32, is characterized in that, whether described units of ground station exists defect according to described image information definite kernel power station concrete structure body surface, comprising:
Judge in described fracture length, fracture width, defect area, whether at least one surpass the corresponding preset value setting in advance.
34. systems as claimed in claim 33, is characterized in that, described units of ground station is also for the mapping table of setting up described positional information and described defect information corresponding relation.
35. systems as claimed in claim 34, is characterized in that, described units of ground station also for: preserve described mapping table and described pictorial information.
36. systems as claimed in claim 35, is characterized in that, described units of ground station also for:
According to the information in described database, draw defect map.
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